CN111721561A - Method and device for judging stability of rotation operation and engineering machinery - Google Patents

Method and device for judging stability of rotation operation and engineering machinery Download PDF

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Publication number
CN111721561A
CN111721561A CN202010470163.1A CN202010470163A CN111721561A CN 111721561 A CN111721561 A CN 111721561A CN 202010470163 A CN202010470163 A CN 202010470163A CN 111721561 A CN111721561 A CN 111721561A
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stability
area
engineering machinery
determining
triangle
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CN111721561B (en
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曾中炜
李淇阳
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)
  • Jib Cranes (AREA)

Abstract

The invention relates to the field of engineering machinery, and discloses a method and a device for judging the stability of rotary operation and the engineering machinery, wherein the method comprises the steps of obtaining a rotary operation stability judgment parameter, wherein the rotary operation stability judgment parameter comprises the rotary angle of a rotary table of the engineering machinery or a first gravity center of the engineering machinery; determining a support area formed by connecting the positions of all supporting legs of the engineering machinery; dividing the support area into a first stability judgment area and a second stability judgment area, wherein the first stability judgment area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise, and the second stability judgment area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise; and determining to control the turntable to perform stabilization of the swing operation based on the swing operation stability determination parameter and the first and second stabilization determination regions. Therefore, the stability of judging and controlling the rotary table to execute the rotary operation is realized.

Description

Method and device for judging stability of rotation operation and engineering machinery
Technical Field
The invention relates to the field of engineering machinery, in particular to a method and a device for judging the stability of rotation operation and engineering machinery.
Background
When the movable arm support equipment is used for high-lift arm support operation, the gravity center of the whole machine (including operation load) is high, the arm support has a tipping risk relative to a limited bearing area during rotation, and the safe control of the rotation action needs to be carried out. The movable boom equipment comprises a boom concrete pump truck, a concrete spreader, an aerial work platform machine with a folding arm, a folding arm fire fighting device, a movable cleaning manipulator device, a wall building machine and other construction equipment, an excavator, a movable crane (including an automobile crane, a crawler crane, a ground crane and the like), movable rotary belt conveying equipment (an ore machine or an agricultural machine) and other rotatable movable sorting equipment (a robot).
Aiming at preventing tipping, two technical schemes are disclosed in the prior art, one is to detect a support plane area and the gravity center of the whole vehicle, evaluate the safety of unlikely tipping according to whether the gravity center of the whole vehicle falls into the support area and the proximity degree of the gravity center and a boundary, and implement corresponding control; the other method is that under the condition of acquiring the gravity center and the supporting plane area of the whole vehicle of the equipment, an area representing the anti-rollover safety is defined, and the safety of the equipment posture is judged by recognizing the position relation between the gravity center and the area of the whole vehicle. In the technical scheme disclosed by the prior art, only the influence of the gravity center position of the whole vehicle of the focusing equipment on the tipping is focused, and the arm support is controlled to move by a partition (as a criterion) meeting a certain rule in a supporting area (the gravity center of the whole vehicle falls on), so that the tipping prevention safety is ensured; whether the current moment has a rollover risk or not can be judged only, the situation that how to operate the rotary motion can be avoided cannot be judged, the safety of the operation is not pre-judged, the control is delayed, the flexibility of controlling the rotary operation is limited, and the safety control guarantee capability is low.
Disclosure of Invention
The object of the present invention is to provide a method and a device for determining the stability of a slewing operation and a construction machine, which allow the above technical problems to be solved or at least partially solved.
In order to achieve the above object, an aspect of the present invention provides a method for determining stability of a swing operation of a construction machine, the method including: acquiring a rotation operation stability judgment parameter, wherein the rotation operation stability judgment parameter comprises a rotation angle of a rotary table of the engineering machinery or a first gravity center of the engineering machinery; determining a support area formed by connecting the positions of all supporting legs of the engineering machinery; dividing the support area into a first stability judgment area and a second stability judgment area, wherein the first stability judgment area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise, and the second stability judgment area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise; and determining the stability of controlling the turntable to perform the swing operation based on the swing operation stability determination parameter and the first and second stability determination regions.
Optionally, the dividing the support region into a first stable judgment region and a second stable judgment region includes: determining vertex positions for dividing the support area; dividing the support area into a plurality of triangles based on the vertex position and the positions of the two adjacent legs; determining the vertical feet of a connecting line from the vertex position to the positions of the two adjacent legs; and for any one of the plurality of triangles: if the drop foot falls on a connecting line between the positions of two adjacent legs, dividing the triangle into two triangles based on the connecting line between the vertex position and the drop foot, wherein along the direction from the vertex position to the drop foot, the triangle on the left side of the connecting line between the vertex position and the drop foot is the first stable judgment area, and the triangle on the right side of the connecting line between the vertex position and the drop foot is the second stable judgment area; and if the foot falls outside a connecting line between the positions of the two adjacent legs, the triangle is in the direction from the vertex position to the foot, if the triangle is positioned on the left side of the connecting line from the vertex position to the foot, the triangle is the first stable judgment area, and if the triangle is positioned on the right side of the connecting line from the vertex position to the foot, the triangle is the second stable judgment area.
Optionally, in a case where the turning operation stability determination parameter is the turning angle, the determining the stability of the turning operation of the construction machine based on the turning operation stability determination parameter and the first and second stability determination regions includes: determining the angle of two sides of any triangle passing through the vertex position, which are included in the first stable judgment area and the second stable judgment area, relative to the initial side by taking the initial side of the revolution angle as the initial side; and determining stability of controlling the turntable to perform the swing operation based on a relationship between the determined angle and the swing angle.
Optionally, the vertex position satisfies the following condition: and | N-N '| is less than or equal to, wherein N is the second gravity center of the engineering machinery, and N' is the vertex position, and is less than 300 mm.
Optionally, before determining the stability of controlling the turntable to perform the swing operation based on the swing operation stability determination parameter and the first and second stability determination regions, the method further comprises: and judging a stable state of the construction machine, wherein the condition for judging and controlling the stability of the rotary table to execute the rotary operation based on the rotary operation stability judgment parameter and the first and second stable judgment areas is that the stable state is a risk state.
Accordingly, another aspect of the present invention provides an apparatus for determining stability of a swing operation of a construction machine, the apparatus including: the system comprises a parameter acquisition module, a parameter selection module and a parameter selection module, wherein the parameter acquisition module is used for acquiring a rotation operation stability judgment parameter, and the rotation operation stability judgment parameter comprises a rotation angle of a rotary table of the engineering machinery or a first gravity center of the engineering machinery; the supporting area determining module is used for determining a supporting area formed by connecting the positions of all supporting legs of the engineering machinery; the supporting area is divided into a first stability judging area and a second stability judging area, the first stability judging area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise, and the second stability judging area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise; and a judging module for judging and controlling the stability of the rotary table to execute the rotary operation based on the rotary operation stability judging parameter and the first and second stable judging areas.
Optionally, the dividing module divides the support area into a first stable judgment area and a second stable judgment area, including: determining vertex positions for dividing the support area; dividing the support area into a plurality of triangles based on the vertex position and the positions of the two adjacent legs; determining the vertical feet of a connecting line from the vertex position to the positions of the two adjacent legs; and for any one of the plurality of triangles: if the drop foot falls on a connecting line between the positions of two adjacent legs, dividing the triangle into two triangles based on the connecting line between the vertex position and the drop foot, wherein along the direction from the vertex position to the drop foot, the triangle on the left side of the connecting line between the vertex position and the drop foot is the first stable judgment area, and the triangle on the right side of the connecting line between the vertex position and the drop foot is the second stable judgment area; and if the foot falls outside a connecting line between the positions of the two adjacent legs, the triangle is in the direction from the vertex position to the foot, if the triangle is positioned on the left side of the connecting line from the vertex position to the foot, the triangle is the first stable judgment area, and if the triangle is positioned on the right side of the connecting line from the vertex position to the foot, the triangle is the second stable judgment area.
Optionally, in a case where the turning operation stability determination parameter is the turning angle, the determining module determines the stability of the turning operation of the construction machine based on the turning operation stability determination parameter and the first and second stability determination regions includes: determining the angle of two sides of any triangle passing through the vertex position, which are included in the first stable judgment area and the second stable judgment area, relative to the initial side by taking the initial side of the revolution angle as the initial side; and determining stability of controlling the turntable to perform the swing operation based on a relationship between the determined angle and the swing angle.
Optionally, the vertex position satisfies the following condition: and | N-N '| is less than or equal to, wherein N is the second gravity center of the engineering machinery, and N' is the vertex position, and is less than 300 mm.
Optionally, the determining module is further configured to determine a stable state of the construction machine before determining and controlling the turntable to perform the stability of the swing operation based on the swing operation stability determining parameter and the first and second stable determining regions, where a condition that the turntable is determined and controlled to perform the stability of the swing operation based on the swing operation stability determining parameter and the first and second stable determining regions is that the stable state is a risk state.
In addition, the invention also provides a construction machine which comprises the device.
Additionally, another aspect of the invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of the above.
By the technical scheme, the stability of the control rotary table for executing the rotary operation is judged, so that the stability of the rotary table for executing the rotary operation is judged before the rotary table is controlled for executing the rotary operation, and the stability prejudgment of the rotary operation is realized; by judging the stability of controlling the rotary table to execute the rotary operation, the stability can be improved by controlling the rotary table to execute the rotary operation, so that a worker can be reminded whether the operation which the worker wants to execute can be improved in stability and how the rotary operation can be executed can be improved in stability, and therefore danger can be avoided; the stability of the rotary operation executed by the control rotary table is pre-judged in advance, so that the control is advanced, the flexibility of controlling the rotary operation is improved, and the safety control guarantee capability is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a method for determining stability of a swing operation of a construction machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a support region division according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a support region division according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a support region division according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a vertex position provided by another embodiment of the present invention;
FIG. 6 is a schematic view of angle division provided by another embodiment of the present invention;
FIG. 7 is a logic diagram of a method for determining stability of swing operation of a work machine according to another embodiment of the present disclosure;
FIG. 8 is a schematic diagram of determining the stability of the swing operation based on the position of the center of gravity according to another embodiment of the present invention;
FIG. 9 is a logic diagram of a method for determining stability of swing operation of a work machine according to another embodiment of the present disclosure;
FIG. 10 is a logic diagram of a method for determining stability of swing operation of a work machine according to another embodiment of the present disclosure;
FIG. 11 is a schematic diagram of a system architecture provided by another embodiment of the present invention; and
fig. 12 is a block diagram illustrating an apparatus for determining stability of a swing operation of a construction machine according to another embodiment of the present invention.
Description of the reference numerals
1 parameter acquisition module and 2 judgment module
3 support area determination module 4 partitioning module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
An aspect of an embodiment of the present invention provides a method for determining stability of a swing operation of a construction machine.
Fig. 1 is a flowchart of a method for determining stability of a swing operation of a construction machine according to an embodiment of the present invention. As shown in fig. 1, the method includes the following.
In step S10, a turning operation stability determination parameter is acquired, wherein the turning operation stability determination parameter includes a turning angle of a turn table of the construction machine or a first center of gravity of the construction machine. The rotation angle may be obtained by a rotary encoder, or may be obtained by a potentiometer, a pull sensor, a rotation speed sensor, or the like. Furthermore, for the first center of gravity, in particular, a projection of the center of gravity of the work machine on a horizontal plane is acquired. There are many ways to obtain a projection of the center of gravity on a horizontal plane. For example, the first method may be to detect the attitude and the load state of the construction machine, obtain the structural mass parameters of the construction machine, and then obtain the gravity center projection of the construction machine through calculation, for example, the gravity center projection of the construction machine may be calculated with reference to the description in CN 102514550B. In addition, the second method may be that the gravity center projection of the engineering machinery is calculated by analyzing the stress of the detectable supporting leg of the bearing structure of the engineering machinery (such as the engineering crane, the pump truck and the like which adopt the supporting leg to support the equipment mass).
In step S11, a support area formed by connecting the positions of the legs of the construction machine is determined. Specifically, for each of the support legs of the engineering machine, the support posture of the support leg is obtained first, specifically, the elongation of the telescopic support leg may be obtained by a pull sensor (a laser ranging sensor, an oil cylinder displacement sensor, and the like may also be used), and the swing angle of the swing support leg may be obtained by a swing angle sensor (an encoder, a potentiometer, and the like may also be used). Then, for each of the legs, the coordinates of the leg in space are calculated according to the acquired leg support posture data, that is, the leg position of each of the legs is determined. And forming a supporting area by connecting the determined positions of the supporting legs.
In step S12, the support area is divided into a first stability determination area and a second stability determination area, where the first stability determination area is an area where the stability of the construction machine is enhanced when the turntable is controlled to rotate counterclockwise and where the stability of the construction machine is reduced when the turntable is controlled to rotate clockwise, and the second stability determination area is an area where the stability of the construction machine is enhanced when the turntable is controlled to rotate clockwise and where the stability of the construction machine is reduced when the turntable is controlled to rotate counterclockwise.
In step S13, the stability of controlling the turntable to perform the swing operation is determined based on the swing operation stability determination parameter and the first and second stability determination regions. The first stability judging area is an area for controlling the turntable to rotate anticlockwise to enhance the stability of the engineering machinery and controlling the turntable to rotate clockwise to reduce the stability of the engineering machinery, and the second stability judging area is an area for enhancing the stability of the engineering machinery when controlling the turntable to rotate clockwise and reducing the stability of the engineering machinery when controlling the turntable to rotate anticlockwise, so that when the stability of the control turntable for executing rotation operation is judged, how to operate the turntable can be determined to increase the stability of the engineering machinery, and how to operate the turntable can be determined to reduce the stability of the engineering machinery; alternatively, it is determined whether the swing operation to be performed by the turntable is to be controlled to increase the stability of the construction machine or to decrease the stability of the construction machine. Therefore, the prejudgment of the rotation operation is realized.
By the technical scheme, the stability of the control rotary table for executing the rotary operation is judged, so that the stability of the rotary table for executing the rotary operation is judged before the rotary table is controlled for executing the rotary operation, and the stability prejudgment of the rotary operation is realized; by judging the stability of controlling the rotary table to execute the rotary operation, the stability can be improved by controlling the rotary table to execute the rotary operation, so that a worker can be reminded whether the operation which the worker wants to execute can be improved in stability and how the rotary operation can be executed can be improved in stability, and therefore danger can be avoided; the stability of the rotary operation executed by the control rotary table is pre-judged in advance, so that the control is advanced, the flexibility of controlling the rotary operation is improved, and the safety control guarantee capability is improved.
Optionally, in an embodiment of the present invention, dividing the support area into a first stability judgment area and a second stability judgment area includes: determining the vertex position of the divided support area; dividing the support area into a plurality of triangles based on the vertex position and the positions of the two adjacent legs; determining the vertical feet of a connecting line from the vertex position to the positions of the two adjacent legs; and for any one of the plurality of triangles: if the drop foot falls on a connecting line between the positions of the two adjacent legs, dividing the triangle into two triangles based on the connecting line between the vertex position and the drop foot, wherein along the direction from the vertex position to the drop foot, the triangle on the left side of the connecting line between the vertex position and the drop foot is a first stable judgment area, and the triangle on the right side of the connecting line between the vertex position and the drop foot is a second stable judgment area; and if the foot falls outside a connecting line between the positions of the two adjacent legs, the triangle is in the direction from the vertex position to the foot, if the triangle is positioned on the left side of the connecting line from the vertex position to the foot, the triangle is a first stable judgment area, and if the triangle is positioned on the right side of the connecting line from the vertex position to the foot, the triangle is a second stable judgment area.
Optionally, in an embodiment of the present invention, the vertex position satisfies the following condition: and | N-N '| is less than or equal to, wherein N is the second gravity center of the engineering machinery, and N' is the vertex position, and is less than 300 mm. Optionally, <150 mm. Preferably, in an embodiment of the present invention, the vertex position is the second center of gravity. And the second gravity center is the gravity center position of the residual equipment structure after the engineering machinery removes the rotary table and the upper arm support. The second gravity center position can be calculated by the gravity center synthesis of the rest equipment structures, or measured by a suspension wire method and a balance method.
The division of the support area is explained below in conjunction with fig. 2 to 4. In fig. 2 to 5, N represents a vertex position in the embodiment of the present invention.
As shown in FIG. 2, A0-A4 are supporting points of the construction machine (taking a pump truck as an example, the supporting points are more in position and more flexible; the description is also applicable to a crane and the like, the supporting points are the supporting positions in the embodiment of the invention), N is a specific point (the vertex position in the embodiment of the invention), and B0-B4 are vertical feet (vertical line intersection points) of connecting lines from the N to the adjacent supporting points; theta is an included angle taking a pre-specified reference direction as a starting edge and a turntable direction as a final edge, and the angle of the turntable takes the same starting edge as the starting edge, namely theta is the angle of the turntable. In the embodiment, a direction of a connecting line from the center of the turntable to the tail of the vehicle (wherein the connecting line passes through N points) is designated as a starting edge, and a direction of the turntable (a direction indicated when the arm rest of the turntable is horizontally unfolded) is designated as an ending edge. When the rotation angle also takes the direction of the connecting line from the center of the turntable to the tail of the vehicle as the starting edge, the direction of the turntable can be represented by the angle of the turntable.
The adjacent support points and N divide the whole support area into a plurality of triangular areas which take N as a common vertex and take the support points as the number, and the number is counted as N.
The triangular area is composed of adjacent supporting points and N points. Wherein, for any one of the plurality of triangular regions: 1) if the foot of the connecting line from the N to the two adjacent supporting points is on the connecting line segment, the triangular region can be divided into a left triangle and a right triangle by taking the connecting line from the N to the foot Bi as a boundary, wherein the triangular region on the left hand side of the vector NBi is marked as a type I region (which is equal to the first stability judgment region in the embodiment of the invention), and the triangular region on the right hand side is marked as a type II region (which is equal to the second stability judgment region in the embodiment of the invention); 2) if the connecting line from the N to the two adjacent supporting points is out of the connecting line segment (on the extension line), the triangular region is not divided, and when the whole region is on the left hand side of the vector NBi, the triangular region is marked as a type I region; when the entire region is on the right hand side of the vector NBi, the triangular region is designated as a class II region.
Generally, a construction machine is supported by 4 legs, and the above-mentioned case 2) is less likely to occur in consideration of the symmetry of the design of the construction machine, but the following figure may be taken as an example of one of the angle region classification flags when the case 2) occurs. As shown in fig. 3, A2 and A4 are adjacent supporting feet, the vertical feet from N to A2A4 are B2, B2 falls outside the line segment A2A4, and Δ A2A4N is entirely on the right hand side of NB2 in the ray direction and must be marked as a class II area.
Of course, it is not necessary to say that the condition that the adjacent vertices and the triangle formed by N are all similar regions as shown in fig. 3 occurs when the number of the adjacent vertices exceeds the quadrilateral; this may also occur due to the specific design. As shown in fig. 4, A1 and A2 are adjacent supporting feet, the vertical feet from N to A1A2 are B, B falls outside the segment A1A2, and Δ A1A2N is on the left hand side of NB ray direction as a whole and must be marked as a class I area.
Preferably, N is the "center of gravity position" of the remaining equipment structure after the construction machine (e.g., the mobile boom device) removes the turntable (and the boom thereon), and the position can be calculated by the center of gravity synthesis of the remaining equipment structure, or measured by a wire suspension method or a balance method. Here, the "center of gravity position" described herein is equivalent to the second center of gravity described in the embodiment of the present invention.
Less preferably, N is a near point N 'by engineering approximation with reference to the "barycentric location" described above, which may be a pre-specified point (i.e., the point N' satisfies | N-N '| <, i.e., N' is a specified point in the neighborhood of N, as shown in FIG. 5). That is, in this approximation, N represents the "barycentric position" and N' represents the vertex position. Preferably, this <150 mm. Less preferably, <300 mm.
Optionally, in the embodiment of the present invention, the support area may be divided based on an angle. Setting an initial edge, and determining the angle of two edges of the over-vertex position of each triangle in the first stable judgment area and the second stable judgment area relative to the initial edge, so as to represent the area corresponding to each triangle by using the angle range corresponding to the two edges of the over-vertex position of each triangle. And judging the relationship between the rotation angle and the angle range corresponding to each triangle in the first stable judgment area and the second stable judgment area to judge the stability of the rotation operation executed by the turntable.
Alternatively, in an embodiment of the present invention, in a case where the turning operation stability determination parameter is a turning angle, determining the stability of the turning operation of the construction machine based on the turning operation stability determination parameter and the first and second stability determination regions includes: determining the angle of two sides of any triangle passing the vertex position, which are included in the first stable judgment area and the second stable judgment area, relative to the initial side by taking the initial side of the rotation angle as the initial side; and determining stability of controlling the turntable to perform the swing operation based on the relationship between the determined angle and the swing angle.
Specifically, by determining the angles of two sides of the over-vertex position of any one of the first stable judgment region and the second stable judgment region with respect to the initial side, the angle ranges corresponding to the two sides can be used to characterize the region corresponding to the triangle. By comparing the rotation angle with the determined angle, it can be determined which triangle included in the first stable determination region and the second stable determination region the rotation angle falls between the angles corresponding to the two adjacent sides of the over-vertex position of the triangle, and thus it can be determined which triangle the end edge of the rotation angle falls in, that is, the positional relationship between the end edge of the rotation angle and the first stable determination region and the second stable determination region. If the terminal edge of the rotation angle falls into the first stability judgment area, the stability of the engineering machinery is enhanced by anticlockwise rotation, and the stability of the engineering machinery is reduced by clockwise rotation; and if the terminal edge of the rotation angle falls into the second stability judgment area, the stability of the engineering machinery is enhanced by clockwise rotation, and the stability of the engineering machinery is reduced by anticlockwise rotation. Or, if the terminal edge of the turning angle falls within the first stable region, the turning operation to be performed by the control turntable is clockwise turning, and the turning operation reduces the stability of the construction machine; if the terminal edge of the turning angle falls within the second stable region, the turning operation to be performed by the control turntable is clockwise turning, and the turning operation enhances the stability of the construction machine. That is, in the embodiment of the present invention, the stability of controlling the turntable to perform the rotation operation is determined, which may be how to control the turntable to perform the rotation operation, so as to enhance the stability of the engineering machine, and how to control the turntable to rotate, so as to reduce the stability of the engineering machine; or may be to determine whether a swing operation intended to be performed by the turret should increase or decrease the stability of the work machine.
Next, a case where the turning operation stability determination parameter is the turning angle will be explained with reference to fig. 6 and 7.
As shown in fig. 6, the start side θ of the rotation angle0For the initial edge, the whole support area is normalized to 0-360 DEG, and the adjacent two edges of the over-vertex position N of each triangle belonging to the class I area and the class II area are determined relative to theta0As shown in FIG. 6, determine θ1、θ2、θ3、θ4、θ5、θ6、θ7、θ8. By comparing the values of the angle of gyration theta with theta1、θ2、θ3、θ4、θ5、θ6、θ7、θ8By comparison, θ ∈ (θ) is determined1，θ2). Because the initial sides of the angles are the same, the final side at which the angle of revolution can be determined is at θ1And theta2The corresponding region is a class i region as shown in fig. 6. Therefore, the stability of the engineering machinery is enhanced when the rotary table is controlled to rotate anticlockwise, and the stability of the engineering machinery is reduced when the rotary table is controlled to rotate clockwise.
Fig. 7 is a logic diagram of a method for determining stability of swing operation of a work machine according to another embodiment of the present invention.
As shown in fig. 7, the rotation angle is detected, and the rotation angle of the turntable is acquired. The corner area comparison means that the turning angle is compared with the angle area corresponding to each triangle (i.e. the angle range corresponding to the two sides passing through the vertex) in the class i area and the class ii area, and it is determined which angle area the turning angle is located in, i.e. which angle range is located in. If the rotation angle is located in an angle area corresponding to a certain triangle in the type I area, the clockwise rotation causes the stability to be reduced, and the anticlockwise rotation causes the stability to be enhanced; if the rotation angle is not located in the angle area corresponding to a certain triangle in the type I area, the rotation angle is located in the angle area corresponding to a certain triangle in the type II area, the clockwise rotation results in enhanced stability, and the counterclockwise rotation results in reduced stability.
Through the determination method shown in fig. 7, the safety determination of the support stability of the construction machine by the forward rotation operation and the backward rotation operation is recognized, and whether the operation will cause the deterioration of the support stability of the construction machine is known.
Note that: the corner area comparison is carried out, the comparison object is the comparison of the rotation angle detection value and the boundary angle values of the class I area and the class II area, and the real-time rotation angle is judged to be located in the angle area corresponding to the triangle in the class I area and the class II area according to the comparison result of the angle values.
The comparison method based on the angle value only depends on the rotation angle value which is a detection quantity easy to obtain, but not on the quantity influenced by multiple factors of the gravity center of the whole vehicle, so that the method has the application effect that the criterion is more concise and direct.
Alternatively, in the embodiment of the present invention, the swing operation stability determination parameter may be a first center of gravity of the working machine. The stability of controlling the turntable to perform the swing operation is determined based on which of the first and second stability determination regions the first center of gravity is within. If the first center of gravity is in the first stability judgment area, the stability of the engineering machinery is enhanced when the rotary table is controlled to rotate anticlockwise, and the stability of the engineering machinery is reduced when the rotary table is controlled to rotate clockwise; and if the first gravity center is in the second stable judgment area, the stability of the engineering machinery is enhanced when the rotary table is controlled to rotate clockwise, and the stability of the engineering machinery is reduced when the rotary table is controlled to rotate anticlockwise.
It should be noted that, in the embodiment of the present invention, the pivot angle and the first center of gravity have a correspondence. The following explanation is given by taking the first center of gravity as an example, and is why the stability of the construction machine is enhanced when the turntable is controlled to rotate counterclockwise and the stability of the construction machine is reduced when the turntable is controlled to rotate clockwise when the turning angle or the first center of gravity is within the first stable region, the stability of the construction machine is enhanced when the turntable is controlled to rotate clockwise and the stability of the construction machine is reduced when the turntable is controlled to rotate counterclockwise when the turning angle or the first center of gravity is within the second stable region.
If the support stability of the engineering machinery is poor (dangerous), the identification and judgment of the process shown in fig. 7 can clearly know how to operate the rotation to increase the stability of the equipment, so that the equipment is separated from the dangerous state. The application effect is illustrated by taking fig. 8 as an example.
As shown in fig. 8, if the turntable continues to operate to rotate counterclockwise (anti clk) when the first center of gravity G of the entire vehicle is located in the area ii, the first center of gravity of the entire vehicle may exceed the boundary A2a3, which may decrease the stability of the construction machine. On the contrary, if the rotary table is operated to rotate clockwise (Clk), the first gravity center of the whole vehicle is far away from the boundary A2A3, so that the stability of the engineering machine is increased, and the whole vehicle is more stable and safer before exceeding the area II.
Alternatively, in the embodiment of the present invention, the operator may be informed of how to operate the work machine, which may increase the stability of the work machine, in a manner of presenting the stability of the swing operation, for example, by using an indicator light. Note that, the stability of controlling the turntable to perform the swing operation may also be indicated by way of an instruction, such as vibration, sound, or the like.
Fig. 9 is a logic diagram of a method for determining stability of swing operation of a work machine according to another embodiment of the present invention. In fig. 9, the first indicator light is turned on to indicate that the counterclockwise slewing operation will help to enhance the stability of the construction machine; the second indicator light is on, and the clockwise rotation operation is indicated, so that the stability of the engineering machine is enhanced. Otherwise, it is decreased.
Optionally, in an embodiment of the present invention, before determining the stability of controlling the turntable to perform the swing operation based on the swing operation stability determination parameter and the first and second stability determination regions, the method further includes: and judging the stable state of the engineering machinery, wherein the condition that the stability of the control rotary table for executing the rotary operation is judged to be the risk state based on the rotary operation stability judgment parameter and the first and second stability judgment areas.
Fig. 10 is a logic diagram of a method for determining stability of swing operation of a work machine according to another embodiment of the present invention.
Before judging whether the engineering machine is located in the I-type area, the stable state of the engineering machine is judged. If the stable state of the engineering machinery is safe, the stability of the engineering machinery is strong, and the rotary operation is not interfered; and if the stable state of the engineering machinery is not very safe, judging whether the stable state of the engineering machinery is risky or not. If the stable state of the engineering machinery does not present risks, the danger of the engineering machinery is out of control, and emergency measures are taken; if the steady state of the construction machine is in a risk state, the stability of the construction machine is poor, the intervention of the slewing operation is adopted, and then the stability of the slewing operation performed by the control turntable is judged based on the slewing operation stability judgment parameter and the first stability judgment area and the second stability judgment area, for example, the judgment is performed based on the slewing angle, as shown in fig. 10.
The technical scheme for judging and controlling the stability of the rotary table to execute the rotary operation is combined with other technologies, so that the functions of identification and guidance are integrated into the function of controllability.
In many prior art techniques, the stability of a work machine is divided into at least two "very safe-risky" states (the "tipped over" state is not listed here because it is a state that is to be avoided and it makes no sense to control the work machine once it has tipped over).
In a 'very safe' state, the stroke machinery is not easy to tip, and the stroke machinery arm support action (including the rotation of the rotary table) cannot cause the risk of tipping of the stroke machinery; in a state of 'risk existence', the process machine has the risk of causing the process machine to tip over or critical tip over under the condition of some boom actions and postures, and the boom actions need to be effectively intervened, but the prior art cannot judge how the intervention is effective despite knowing the 'risk existence', and can avoid aggravation of the tip-over risk.
Note that the region in class I is mutually exclusive from the region in class II, and the present scheme only gives definitions of these two regions.
The danger is out of control, namely the above 'overturned' state, and personnel on the operation site take emergency measures to take refuge. Poor stability, i.e., a "risky" device stability state.
The technical solution provided by the embodiment of the present invention is explained in the following in terms of a system. It should be noted that the present invention is explained in a systematic view, which is only for explaining the present invention and is not limited thereto.
Fig. 11 is a schematic diagram of a system architecture according to another embodiment of the present invention. As shown in fig. 11, the system includes a leg posture detecting unit, a support position calculating unit, a turntable angle detecting unit, a turntable operation input unit, and a turntable operation safety judging unit. The supporting leg posture detection unit is used for acquiring a supporting posture of a supporting leg, generally acquiring the elongation of the telescopic supporting leg through a stay wire sensor (a laser ranging sensor, an oil cylinder displacement sensor and the like can also be used), and acquiring the swing angle of the swing supporting leg through a swing angle sensor (an encoder, a potentiometer and the like can also be used); the supporting position calculating unit is used for calculating the coordinates of the supporting position on the space according to the data output by the supporting leg posture detecting unit and is used as one of the bases of safety calculation; a turntable angle detection unit, wherein a user acquires the posture of the turntable, and generally acquires the rotation angle of the turntable through a rotary encoder (a potentiometer, a pull wire sensor, a rotation speed sensor and the like can also be used), and the rotation angle is used as one of the bases for safety calculation; the rotary table operation input unit is a signal input device (such as a remote controller and an operation panel) or a detection device (such as a sensor system for carrying out electrification detection on the operation position of a hydraulic handle) which can reflect the operation instruction of an operator, and is used for reflecting the operation instruction of the rotary table and used as one of the bases of operation safety; and the turntable operation safety judgment unit is used for judging whether the ongoing turntable operation has safety or not according to the support area acquired by the support position calculation unit, the turntable angle acquired by the turntable angle detection unit and the operation signal acquired by the turntable operation input unit, namely whether the equipment can be more stable or not and avoiding tipping. Further, the support position calculation unit and the turntable operation safety determination unit, if the same device is used, may be integrally provided as the safety calculation determination unit, but this is not essential.
The technical scheme provided by the embodiment of the invention aims at the situation that the engineering machinery can be a movable arm support device, and the bearing area (projection on a horizontal plane) is a convex polygon when the arm support works, so that whether the rotation action direction is beneficial to increasing the anti-tipping stability of the device or not is identified.
The technical scheme provided by the embodiment of the invention can be suitable for mobile engineering machinery adopting an independent calculation control unit, and can also be applied to mobile engineering machinery adopting a plurality of calculation control units, such as a mode of acquiring local detection information of equipment, judging remote operation safety and executing control locally of the equipment (without influencing the description of the system structure in fig. 11).
Accordingly, another aspect of the embodiments of the present invention provides an apparatus for determining stability of a swing operation of a construction machine.
Fig. 12 is a block diagram illustrating an apparatus for determining stability of a swing operation of a construction machine according to another embodiment of the present invention. As shown in fig. 12, the apparatus includes a parameter acquisition module 1, a support area determination module 3, a division module 4, and a judgment module 2. The parameter acquiring module 1 is configured to acquire a rotation operation stability determining parameter, where the rotation operation stability determining parameter includes a rotation angle of a turntable of the engineering machine or a first center of gravity of the engineering machine; the supporting area determining module 3 is used for determining a supporting area formed by connecting the positions of all supporting legs of the engineering machinery; the dividing module 4 is configured to divide the support area into a first stable judgment area and a second stable judgment area, where the first stable judgment area is an area for enhancing the stability of the engineering machine when the turntable is controlled to rotate counterclockwise and for reducing the stability of the engineering machine when the turntable is controlled to rotate clockwise, and the second stable judgment area is an area for enhancing the stability of the engineering machine when the turntable is controlled to rotate clockwise and for reducing the stability of the engineering machine when the turntable is controlled to rotate counterclockwise; the judging module 2 is configured to judge the stability of the control turntable for performing the swing operation based on the swing operation stability judging parameter and the first and second stable judging areas.
Optionally, in an embodiment of the present invention, the dividing module divides the support area into a first stable judgment area and a second stable judgment area, including: determining the vertex position of the divided support area; dividing the support area into a plurality of triangles based on the vertex position and the positions of the two adjacent legs; determining the vertical feet of a connecting line from the vertex position to the positions of the two adjacent legs; and for any one of the plurality of triangles: if the drop foot falls on a connecting line between the positions of the two adjacent legs, dividing the triangle into two triangles based on the connecting line between the vertex position and the drop foot, wherein along the direction from the vertex position to the drop foot, the triangle on the left side of the connecting line between the vertex position and the drop foot is a first stable judgment area, and the triangle on the right side of the connecting line between the vertex position and the drop foot is a second stable judgment area; and if the foot falls outside a connecting line between the positions of the two adjacent legs, the triangle is in the direction from the vertex position to the foot, if the triangle is positioned on the left side of the connecting line from the vertex position to the foot, the triangle is a first stable judgment area, and if the triangle is positioned on the right side of the connecting line from the vertex position to the foot, the triangle is a second stable judgment area.
Optionally, in an embodiment of the present invention, in a case that the swing operation stability determination parameter is a swing angle, the determining, by the determining module, based on the swing operation stability determination parameter and the first and second stability determination regions, determining the stability of the swing operation of the construction machine includes: determining the angle of two sides of any triangle passing the vertex position, which are included in the first stable judgment area and the second stable judgment area, relative to the initial side by taking the initial side of the rotation angle as the initial side; and determining stability of controlling the turntable to perform the swing operation based on the relationship between the determined angle and the swing angle.
Optionally, in an embodiment of the present invention, the vertex position satisfies the following condition: and | N-N '| is less than or equal to, wherein N is the second gravity center of the engineering machinery, and N' is the vertex position, and is less than 300 mm.
Optionally, in an embodiment of the present invention, the determining module is further configured to determine a stable state of the construction machine before determining the stability of the control turntable for performing the swing operation based on the swing operation stability determining parameter and the first and second stable determining regions, wherein the condition that the stability of the control turntable for performing the swing operation is determined as the stable state is a risk state based on the swing operation stability determining parameter and the first and second stable determining regions.
The specific working principle and the benefits of the device for judging the stability of the slewing operation of the engineering machine provided by the embodiment of the invention are similar to those of the method for judging the stability of the slewing operation of the engineering machine provided by the embodiment of the invention, and the detailed description is omitted here.
In addition, another aspect of the embodiments of the present invention also provides a construction machine, which includes the device described in the above embodiments.
In addition, another aspect of the embodiments of the present invention also provides a machine-readable storage medium, which stores instructions for causing a machine to execute the method described in the above embodiments.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Claims (12)

1. A method for determining stability of swing operation of a work machine, the method comprising:
acquiring a rotation operation stability judgment parameter, wherein the rotation operation stability judgment parameter comprises a rotation angle of a rotary table of the engineering machinery or a first gravity center of the engineering machinery;
determining a support area formed by connecting the positions of all supporting legs of the engineering machinery;
dividing the support area into a first stability judgment area and a second stability judgment area, wherein the first stability judgment area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise, and the second stability judgment area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise; and
and judging and controlling the stability of the rotary table to execute the rotary operation based on the rotary operation stability judging parameter and the first and second stable judging areas.
2. The method of claim 1, wherein the dividing the support region into a first stability assessment region and a second stability assessment region comprises:
determining vertex positions for dividing the support area;
dividing the support area into a plurality of triangles based on the vertex position and the positions of the two adjacent legs;
determining the vertical feet of a connecting line from the vertex position to the positions of the two adjacent legs; and
for any of the plurality of triangles:
if the drop foot falls on a connecting line between the positions of two adjacent legs, dividing the triangle into two triangles based on the connecting line between the vertex position and the drop foot, wherein along the direction from the vertex position to the drop foot, the triangle on the left side of the connecting line between the vertex position and the drop foot is the first stable judgment area, and the triangle on the right side of the connecting line between the vertex position and the drop foot is the second stable judgment area; and
if the foot falls outside the connecting line between the two adjacent legs, the triangle is the first stable judgment area if the triangle is positioned on the left side of the connecting line between the vertex and the foot, and the triangle is the second stable judgment area if the triangle is positioned on the right side of the connecting line between the vertex and the foot.
3. The method according to claim 2, wherein in the case where the turning operation stability determination parameter is the turning angle, the determining the stability of the turning operation of the construction machine based on the turning operation stability determination parameter and the first and second stability determination regions includes:
determining the angle of two sides of any triangle passing through the vertex position, which are included in the first stable judgment area and the second stable judgment area, relative to the initial side by taking the initial side of the revolution angle as the initial side; and
determining stability of controlling the turntable to perform the swing operation based on a relationship between the determined angle and the swing angle.
4. The method of claim 2, wherein the vertex position satisfies the following condition: and | N-N '| is less than or equal to, wherein N is the second gravity center of the engineering machinery, and N' is the vertex position, and is less than 300 mm.
5. The method according to any one of claims 1 to 4, wherein before determining the stability of controlling the turntable to perform the swing operation based on the swing operation stability determination parameter and the first and second stability determination regions, the method further comprises: the stable state of the construction machine is judged,
wherein a condition for determining the stability of controlling the turntable to perform the swing operation based on the swing operation stability determination parameter and the first and second stability determination regions is that the stable state is a risky state.
6. An apparatus for determining stability of swing operation of a construction machine, comprising:
the system comprises a parameter acquisition module, a parameter selection module and a parameter selection module, wherein the parameter acquisition module is used for acquiring a rotation operation stability judgment parameter, and the rotation operation stability judgment parameter comprises a rotation angle of a rotary table of the engineering machinery or a first gravity center of the engineering machinery;
the supporting area determining module is used for determining a supporting area formed by connecting the positions of all supporting legs of the engineering machinery;
the supporting area is divided into a first stability judging area and a second stability judging area, the first stability judging area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise, and the second stability judging area is an area for enhancing the stability of the engineering machinery when the rotary table is controlled to rotate clockwise and reducing the stability of the engineering machinery when the rotary table is controlled to rotate anticlockwise; and
and the judging module is used for judging and controlling the stability of the rotary table for executing the rotary operation based on the rotary operation stability judging parameter and the first stable judging area and the second stable judging area.
7. The apparatus of claim 6, wherein the means for dividing the support region into a first stability assessment region and a second stability assessment region comprises:
determining vertex positions for dividing the support area;
dividing the support area into a plurality of triangles based on the vertex position and the positions of the two adjacent legs;
determining the vertical feet of a connecting line from the vertex position to the positions of the two adjacent legs; and
for any of the plurality of triangles:
if the drop foot falls on a connecting line between the positions of two adjacent legs, dividing the triangle into two triangles based on the connecting line between the vertex position and the drop foot, wherein along the direction from the vertex position to the drop foot, the triangle on the left side of the connecting line between the vertex position and the drop foot is the first stable judgment area, and the triangle on the right side of the connecting line between the vertex position and the drop foot is the second stable judgment area; and
if the foot falls outside the connecting line between the two adjacent legs, the triangle is the first stable judgment area if the triangle is positioned on the left side of the connecting line between the vertex and the foot, and the triangle is the second stable judgment area if the triangle is positioned on the right side of the connecting line between the vertex and the foot.
8. The apparatus of claim 7, wherein in the case where the swing operation stability determination parameter is the swing angle, the determining module determines the stability of the swing operation of the construction machine based on the swing operation stability determination parameter and the first and second stability determination regions includes:
determining the angle of two sides of any triangle passing through the vertex position, which are included in the first stable judgment area and the second stable judgment area, relative to the initial side by taking the initial side of the revolution angle as the initial side; and
determining stability of controlling the turntable to perform the swing operation based on a relationship between the determined angle and the swing angle.
9. The apparatus of claim 7, wherein the vertex position satisfies the following condition: and | N-N '| is less than or equal to, wherein N is the second gravity center of the engineering machinery, and N' is the vertex position, and is less than 300 mm.
10. The apparatus according to any one of claims 6 to 9, wherein the determination module is further configured to determine a steady state of the construction machine before determining the stability of controlling the turntable to perform the swing operation based on the swing operation stability determination parameter and the first and second stability determination regions,
wherein a condition for determining the stability of controlling the turntable to perform the swing operation based on the swing operation stability determination parameter and the first and second stability determination regions is that the stable state is a risky state.
11. A working machine, characterized in that the working machine comprises an arrangement according to any one of claims 6-10.
12. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of any one of claims 1-5.
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